Ecosyste.ms: Awesome

An open API service indexing awesome lists of open source software.

Awesome Lists | Featured Topics | Projects

https://github.com/guicho271828/arrival

Yet Another Classical planning plan validator written in modern Common Lisp
https://github.com/guicho271828/arrival

Last synced: 29 days ago
JSON representation

Yet Another Classical planning plan validator written in modern Common Lisp

Awesome Lists containing this project

README 

        

* ArriVAL - Yet Another Classical planning plan validator written in *modern* Common Lisp



This is a library separated from ALIEN classical planner code base.



ARRIVAL provides a binary =arrival= that takes a PDDL problem file, a domain file and

a plan file, returns 0 when the plan is correct and returns 1 otherwise.



The implementation is intensively focused on clarity: The total LOC is just 941.

This is even shorter compared to [[https://github.com/patrikhaslum/INVAL][INVAL]] validator.



Unlike [[https://github.com/patrikhaslum/INVAL][INVAL]], the repository follows the *modern* Common Lisp repository

structure, is ASDF loadable, and is written in a clean functional style with

pattern matching.



ArriVAL ignores the =:requirement=. The following features are supported:



|                                  | detail                                                          |

|----------------------------------+-----------------------------------------------------------------|

| STRIPS                           | =and=                                                           |

| negative precondition            | =not=                                                           |

| disjunctive precondition         | =or= =imply=                                                    |

| universal precondition           | =forall=                                                        |

| existential preondition          | =exists=                                                        |

| conditional effects              | =when=                                                          |

| The =forall= in effects          | supported                                                       |

| ADL                              | supports =forall= =exists= =when= =or= =imply=                  |

| Axioms                           | supported, fixpoint calculation                                 |

| types                            | supported except =either=                                       |

| equality (===)                   | supported                                                       |

| duplicate args in actions/axioms | supported, imply equality constaints                            |

|----------------------------------+-----------------------------------------------------------------|

| fluents                          | supported (beta) (numeric, objects, action-cost)                |

|                                  | e.g. =assign=, =increase=, =decrease=, =scale-up=, =scale-down= |

|                                  | It accepts both integers and floats.                            |



Arrival currently has no plan to support scheduling problems.



** Installation



Step 1. Install Roswell (https://roswell.github.io/) (modern lisp equivalent of pyenv)



On Mac + homebrew or Linux + [[https://docs.brew.sh/Homebrew-on-Linux][linuxbrew]],



: brew install roswell



On Linux (without linuxbrew),



: sudo apt-get -y install git build-essential automake libcurl4-openssl-dev

: git clone -b release https://github.com/roswell/roswell.git

: cd roswell

: sh bootstrap

: ./configure --prefix=$HOME/.local

: make

: make install

: ~/.local/bin/ros setup   # expect ~5min



Step 2. Install arrival



#+begin_src

$ ~/.local/bin/ros install guicho271828/arrival

$ ~/.roswell/bin/arrival

Usage: [--notype] [-v[v[v]] | --verbose N] [-r|--relaxed] arrival domain problem planfile [trace-output]

     --notype    : The trace output will not contain the type predicates

-v | --verbose N : Specify the verbosity, from 0 to 3                   

-r | --relaxed   : Perform the relaxed planning instead                 

Got ARGV: NIL

            dynamic space size: 8388608000

      lisp implementation type: SBCL

   lisp implementation version: 1.4.12

              machine instance: masataro-ThinkPad-T460

                  machine type: X86-64

               machine version: Intel(R) Core(TM) i5-6300U CPU @ 2.40GHz

                 software type: Linux

              software version: 4.4.0-145-generic

#+end_src



** Usage



: arrival [-v|-vv|-vvv|--verbose N] DOMAINFILE PROBLEMFILE PLANFILE [TRACEFILE]



+ PLANFILE    :: a SEXP file containing plan traces as action signatures.

+ PROBLEMFILE :: a PDDL problem file.

+ DOMAINFILE  :: a PDDL domain file.

+ TRACEFILE   :: An optional output file. Unless specified, the same information

                 is written to the standard output.

+ -v | -vv | -vvv | --verbose N :: verbosity, from level 1 to 3. Default is 0.



** Dependencies

This library is at least tested on implementation listed below:



+ SBCL 1.4.12 on X86-64 Linux 4.4.0-142-generic (author's environment)



Also, it depends on the following libraries:



+ trivia by *Masataro Asai* :

    NON-optimized pattern matcher compatible with OPTIMA, with extensible optimizer interface and clean codebase

+ alexandria by *Nikodemus Siivola , and others.* :

    Alexandria is a collection of portable public domain utilities.

+ iterate by ** :

    Jonathan Amsterdam's iterator/gatherer/accumulator facility



** Author



Masataro Asai ([email protected])



** Copyright



Copyright (c) 2019 Masataro Asai ([email protected])



* License



Licensed under the LLGPL License.



[[arrival.svg]]